Moxel consists of the rod that could be raised and lowered, and ball on top on it which frictiion could be controlled with the brake. This allows for the simulation of how “slippery” is upper surface of the moxel.
By arranging moxels in the matrix (as seen on the left image below), we can simulate physical deformation of the floor surfaces.Note that somewhat better coverage can be achived with “shifted” matrix, as shown on the right side:
